* 03 Feb 2011: Once you form a group, sign up for a time slot for the lab session on [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1_Sign-Up the same page].

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* 29 Mar 2011: A new wiki page for ME/CS 132b (Spring 2011) has been setup. Please use click [https://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132b,_Spring_2011 here] or use http://www.its.caltech.edu/~me132 to visit the new page.

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* 03 Feb 2011: '''Before midnight tonight''', sign up for an ME/CS 132a user account via [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Lab_1_Sign-Up this page]. You will receive a note once the account has been set up.

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* 02 Mar 2011: The final version of Lab Assignment #2 has been posted. It is due 5:00pm, 10 Mar. No grace period is allowed. There is no lab session for this assignment (so that you won't need to sign up for a time slot).

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* 01 Mar 2011: A preview of Lab Assignment #2 has been posted. We are still finalizing it, but this one should look very close to the final version.

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* 15 Feb 2011: HW #3 has been posted. It is due 2:30pm, 22 Feb.

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* 09 Feb 2011: The location of the lab sessions for this week is 12 Steele (basement).

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* 06 Feb 2011: Office hour for the upcoming week will be held on 8 Feb (Tue), 2:30-4pm at 306 Thomas.

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* 05 Feb 2011: Lab Assignment #1 has been posted. The report is due 2:30pm, 15 Feb. No grace period is allowed for this report.

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* 04 Feb 2011: The accounts on the course server have been set up. Please follow the instructions on [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011,_Lab_1 this page] to log into the server.

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* 03 Feb 2011: Once you form a group, sign up for a time slot for the lab session on [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011,_Lab_1_Sign-Up the same page].

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* 03 Feb 2011: '''Before midnight tonight''', sign up for an ME/CS 132a user account via [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2011,_Lab_1_Sign-Up this page]. You will receive a note once the account has been set up.

* The solution to HW #1 has been posted (Caltech/JPL access only).

* The solution to HW #1 has been posted (Caltech/JPL access only).

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* The due date of HW #2 has been extended. It is now due 2:30pm, 3 Feb.

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* HW #1 has been graded. It is in Box H next to the mail slots in Steele.

* The lab assignment is divided into two parts. Each group should prepare for a single lab report.

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** Part I: Data Association for SLAM

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*** You will need the code in [http://www.cds.caltech.edu/~murray/courses/me132-wi11/lab02_material_part1.zip this file].

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** Part II: EKF Localization

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*** You will need [http://www.cds.caltech.edu/~murray/courses/me132-wi11/lab02_material_part2.zip this dataset] (43 MB) containing the robot/environment configurations, sensor measurements, and landmark images. Note that the units in each file may be different (e.g. we use a mixture of meter, centimeter, and millimeter).

== Older Announcements ==

== Older Announcements ==

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* The due date of HW #2 has been extended. It is now due 2:30pm, 3 Feb.

+

* HW #1 has been graded. It is in Box H next to the mail slots in Steele.

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* HW #2 has been posted. It is due 2:30pm, 1 Feb.

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* The location of TA office hours has been changed to 114 Steele.

* An [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_1_FAQ FAQ] page has been created for HW #1.

* An [http://www.cds.caltech.edu/~murray/wiki/index.php/ME/CS_132a,_Winter_2010,_Homework_1_FAQ FAQ] page has been created for HW #1.

* The TA office hours will be on Monday from 5-6:30pm, at 301 Thomas. Send your UID to Shuo Han (hanshuo at caltech) if you need access to Thomas after hours.

* The TA office hours will be on Monday from 5-6:30pm, at 301 Thomas. Send your UID to Shuo Han (hanshuo at caltech) if you need access to Thomas after hours.

Announcements

02 Mar 2011: The final version of Lab Assignment #2 has been posted. It is due 5:00pm, 10 Mar. No grace period is allowed. There is no lab session for this assignment (so that you won't need to sign up for a time slot).

01 Mar 2011: A preview of Lab Assignment #2 has been posted. We are still finalizing it, but this one should look very close to the final version.

15 Feb 2011: HW #3 has been posted. It is due 2:30pm, 22 Feb.

09 Feb 2011: The location of the lab sessions for this week is 12 Steele (basement).

06 Feb 2011: Office hour for the upcoming week will be held on 8 Feb (Tue), 2:30-4pm at 306 Thomas.

05 Feb 2011: Lab Assignment #1 has been posted. The report is due 2:30pm, 15 Feb. No grace period is allowed for this report.

04 Feb 2011: The accounts on the course server have been set up. Please follow the instructions on this page to log into the server.

03 Feb 2011: Once you form a group, sign up for a time slot for the lab session on the same page.

03 Feb 2011: Before midnight tonight, sign up for an ME/CS 132a user account via this page. You will receive a note once the account has been set up.

The solution to HW #1 has been posted (Caltech/JPL access only).

Course Information

Prerequisites

There are no formal prerequisites for the course. ME 115 ab (Introduction to Kinematics and Robotics) is recommended but not necessary. Students are expected to have basic understanding of linear algebra, probability and statistics. We will review some of the required background materials during the first week of lectures. Besides these, students should have some prior programming experience and know at least one of the following languages: C, Python, or MATLAB. Depending on the background of the class, we will hold tutorials for some of the programming languages to help students get started.

Grading

There are no midterm/final exams for this course. The grade will be based on weekly homework (60%) and two week-long labs (20% each). Late homework will not be accepted without a letter from the health center or the Dean. However, you are granted a grace period of five late days throughout the entire term for weekly homework. Please email the TAs and indicate the number of late days you have used on the homework. No grace period is allowed for week-long labs.

Homework: Homework is usually due in one week after it is assigned. You can choose to turn in a hard copy in class or send an electronic copy to Andrea Censi (andrea at cds.caltech.edu). If you are unable attend the lecture, contact the TAs to find an alternative way to turn in your homework.

Labs: Students will form groups of 2-3 people and perform lab experiments together. Detail of this will be announced later in the course.

Collaboration Policy

Students are encouraged to discuss and collaborate with others on the homework. However, you should write your own solution to show your own understanding of the material. You should not copy other people's solution or code as part of your solution. You are allowed to consult the instructors, the TAs, and/or other students. Outside reference materials can be used except for solutions from prior years or similar courses taught at other universities. Outside materials must be cited if used.

Course Texts

There are two required textbooks, both of which are freely available online:

You will need this dataset (43 MB) containing the robot/environment configurations, sensor measurements, and landmark images. Note that the units in each file may be different (e.g. we use a mixture of meter, centimeter, and millimeter).

Older Announcements

The due date of HW #2 has been extended. It is now due 2:30pm, 3 Feb.

HW #1 has been graded. It is in Box H next to the mail slots in Steele.

The TA office hours will be on Monday from 5-6:30pm, at 301 Thomas. Send your UID to Shuo Han (hanshuo at caltech) if you need access to Thomas after hours.

The instructors' office hours have been changed to "by appointment only". You can send the instructor email before class, or directly come to the instructor before/after class to schedule an office hour.